diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index de6b6ec..c46c7f3 100644 --- a/docs/allclasses-index.html +++ b/docs/allclasses-index.html @@ -1,11 +1,11 @@ - + All Classes and Interfaces - + diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html index e35433f..26ab029 100644 --- a/docs/allpackages-index.html +++ b/docs/allpackages-index.html @@ -1,11 +1,11 @@ - + All Packages - + diff --git a/docs/constant-values.html b/docs/constant-values.html index 600df1e..ceaa393 100644 --- a/docs/constant-values.html +++ b/docs/constant-values.html @@ -1,11 +1,11 @@ - + Constant Field Values - + diff --git a/docs/help-doc.html b/docs/help-doc.html index 2039415..dbdf861 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -1,11 +1,11 @@ - + API Help - + diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html index a1a81ed..5438a3a 100644 --- a/docs/index-files/index-1.html +++ b/docs/index-files/index-1.html @@ -1,11 +1,11 @@ - + A-Index - + diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html index 9a9ed43..6aff145 100644 --- a/docs/index-files/index-10.html +++ b/docs/index-files/index-10.html @@ -1,11 +1,11 @@ - + K-Index - + diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html index 790082d..66b36e7 100644 --- a/docs/index-files/index-11.html +++ b/docs/index-files/index-11.html @@ -1,11 +1,11 @@ - + L-Index - + diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html index 4d145da..b08fe25 100644 --- a/docs/index-files/index-12.html +++ b/docs/index-files/index-12.html @@ -1,11 +1,11 @@ - + M-Index - + diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html index 990d7dd..aa10eab 100644 --- a/docs/index-files/index-13.html +++ b/docs/index-files/index-13.html @@ -1,11 +1,11 @@ - + N-Index - + diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html index 32ecf8f..646cc5b 100644 --- a/docs/index-files/index-14.html +++ b/docs/index-files/index-14.html @@ -1,11 +1,11 @@ - + O-Index - + @@ -61,6 +61,10 @@ loadScripts(document, 'script');
WPILib Notifier to keep odometry up to date.
+
offset - Variable in class swervelib.encoders.PWMDutyCycleEncoderSwerve
+
+
The Offset in degrees of the PWM absolute encoder.
+
offset - Variable in class swervelib.imu.ADIS16448Swerve
Offset for the ADIS16448.
diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html index ae85066..070e157 100644 --- a/docs/index-files/index-15.html +++ b/docs/index-files/index-15.html @@ -1,11 +1,11 @@ - + P-Index - + @@ -151,6 +151,10 @@ loadScripts(document, 'script');
Put an angle within the 360 deg scope of a reference.
+
POSE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
+
+
Info level + field info
+
PoseLog(Pose2d) - Static method in class swervelib.math.SwerveMath
Logical inverse of the Pose exponential from 254.
@@ -199,11 +203,11 @@ loadScripts(document, 'script');
Print the alert message.
-
pushOffsetsToControllers() - Method in class swervelib.SwerveDrive
+
pushOffsetsToEncoders() - Method in class swervelib.SwerveDrive
Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.
-
pushOffsetsToControllers() - Method in class swervelib.SwerveModule
+
pushOffsetsToEncoders() - Method in class swervelib.SwerveModule
Push absolute encoder offset in the memory of the encoder or controller.
diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html index c5c3754..1067967 100644 --- a/docs/index-files/index-16.html +++ b/docs/index-files/index-16.html @@ -1,11 +1,11 @@ - + Q-Index - + diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html index b777100..6a347ff 100644 --- a/docs/index-files/index-17.html +++ b/docs/index-files/index-17.html @@ -1,11 +1,11 @@ - + R-Index - + @@ -69,6 +69,10 @@ loadScripts(document, 'script');
NT3 Raw drive motor.
+
rawDriveVelName - Variable in class swervelib.SwerveModule
+
+
NT3 Raw drive motor.
+
readingError - Variable in class swervelib.encoders.SwerveAbsoluteEncoder
Last angle reading was faulty.
diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html index dbc8c94..8039f00 100644 --- a/docs/index-files/index-18.html +++ b/docs/index-files/index-18.html @@ -1,11 +1,11 @@ - + S-Index - + @@ -53,6 +53,10 @@ loadScripts(document, 'script'); A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values

S

+
scaleTranslation(Translation2d, double) - Static method in class swervelib.math.SwerveMath
+
+
Scale the Translation2d Polar coordinate magnitude.
+
SendableAlerts() - Constructor for class swervelib.telemetry.Alert.SendableAlerts
 
serialCommsIssueWarning - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
@@ -124,9 +128,7 @@ loadScripts(document, 'script');
Sets the Absolute Encoder Offset within the CANcoder's Memory.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Sets the offset of the Encoder in the WPILib Encoder Library.
-
+
 
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
Sets the Absolute Encoder offset at the Encoder Level.
@@ -171,6 +173,10 @@ loadScripts(document, 'script');
Set the antiJitter functionality, if true the modules will NOT auto center.
+
setChassisDiscretization(boolean, double) - Method in class swervelib.SwerveDrive
+
+
Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction
+
setChassisSpeeds(ChassisSpeeds) - Method in class swervelib.SwerveDrive
Set chassis speeds with closed-loop velocity control.
diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html index 44f69ab..168f420 100644 --- a/docs/index-files/index-19.html +++ b/docs/index-files/index-19.html @@ -1,11 +1,11 @@ - + T-Index - + diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html index 4aa703d..f1c09f7 100644 --- a/docs/index-files/index-2.html +++ b/docs/index-files/index-2.html @@ -1,11 +1,11 @@ - + B-Index - + diff --git a/docs/index-files/index-20.html b/docs/index-files/index-20.html index 29ec1c7..80aa63d 100644 --- a/docs/index-files/index-20.html +++ b/docs/index-files/index-20.html @@ -1,11 +1,11 @@ - + U-Index - + diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html index 23781b0..7ee0060 100644 --- a/docs/index-files/index-21.html +++ b/docs/index-files/index-21.html @@ -1,11 +1,11 @@ - + V-Index - + diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html index 474ec6e..61103fb 100644 --- a/docs/index-files/index-22.html +++ b/docs/index-files/index-22.html @@ -1,11 +1,11 @@ - + W-Index - + diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html index edff65b..51a6924 100644 --- a/docs/index-files/index-23.html +++ b/docs/index-files/index-23.html @@ -1,11 +1,11 @@ - + X-Index - + diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html index ed01061..3c0ca5d 100644 --- a/docs/index-files/index-24.html +++ b/docs/index-files/index-24.html @@ -1,11 +1,11 @@ - + Y-Index - + diff --git a/docs/index-files/index-25.html b/docs/index-files/index-25.html index e72d91e..6d2899e 100644 --- a/docs/index-files/index-25.html +++ b/docs/index-files/index-25.html @@ -1,11 +1,11 @@ - + Z-Index - + diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html index ec2edf8..9d5157e 100644 --- a/docs/index-files/index-3.html +++ b/docs/index-files/index-3.html @@ -1,11 +1,11 @@ - + C-Index - + @@ -491,6 +491,10 @@ loadScripts(document, 'script');
Create SwerveDrive from JSON configuration directory.
+
cubeTranslation(Translation2d) - Static method in class swervelib.math.SwerveMath
+
+
Cube the Translation2d magnitude given in Polar coordinates.
+
currentLimit - Variable in class swervelib.parser.json.PhysicalPropertiesJson
The current limit in AMPs to apply to the motors.
diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html index ca0323c..286816c 100644 --- a/docs/index-files/index-4.html +++ b/docs/index-files/index-4.html @@ -1,11 +1,11 @@ - + D-Index - + @@ -71,6 +71,10 @@ loadScripts(document, 'script');
DeviceJson() - Constructor for class swervelib.parser.json.DeviceJson
 
+
discretizationdtSeconds - Variable in class swervelib.SwerveDrive
+
+
Amount of seconds the duration of the timestep the speeds should be applied for.
+
doesNotSupportIntegratedOffsets - Variable in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
An Alert for if the absolute encoder does not support integrated offsets.
@@ -123,6 +127,11 @@ loadScripts(document, 'script');
Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
+
driveFieldOrientedandRobotOriented(ChassisSpeeds, ChassisSpeeds) - Method in class swervelib.SwerveDrive
+
+
Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same + time.
+
driveMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
The drive motor and angle motor of this swerve module.
diff --git a/docs/index-files/index-5.html b/docs/index-files/index-5.html index 7fb2099..b3df148 100644 --- a/docs/index-files/index-5.html +++ b/docs/index-files/index-5.html @@ -1,11 +1,11 @@ - + E-Index - + diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html index ba69641..8911d03 100644 --- a/docs/index-files/index-6.html +++ b/docs/index-files/index-6.html @@ -1,11 +1,11 @@ - + F-Index - + diff --git a/docs/index-files/index-7.html b/docs/index-files/index-7.html index 1246270..c3fd02a 100644 --- a/docs/index-files/index-7.html +++ b/docs/index-files/index-7.html @@ -1,11 +1,11 @@ - + G-Index - + diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html index 7abfd87..3c7a967 100644 --- a/docs/index-files/index-8.html +++ b/docs/index-files/index-8.html @@ -1,11 +1,11 @@ - + H-Index - + diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html index 7a34ca2..d7381ec 100644 --- a/docs/index-files/index-9.html +++ b/docs/index-files/index-9.html @@ -1,11 +1,11 @@ - + I-Index - + @@ -113,6 +113,10 @@ loadScripts(document, 'script');
Low priority alert - displayed last on the dashboard with a green "i" symbol.
+
INFO - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
+
+
Medium telemetry data, swerve directory
+
initSendable(SendableBuilder) - Method in class swervelib.telemetry.Alert.SendableAlerts
 
inverted - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
diff --git a/docs/index.html b/docs/index.html index 476a8f8..e9799e1 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,11 +1,11 @@ - + Overview - + diff --git a/docs/member-search-index.js b/docs/member-search-index.js index edee563..763d361 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = [{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"absoluteEncoder"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoder"},{"p":"swervelib","c":"SwerveModule","l":"absoluteEncoder"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderInverted"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoderInverted"},{"p":"swervelib","c":"SwerveModule","l":"absoluteEncoderIssueName"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderOffset"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"absoluteEncoderOffsetWarning"},{"p":"swervelib","c":"SwerveModule","l":"absolutePositionCache"},{"p":"swervelib.telemetry","c":"Alert","l":"active"},{"p":"swervelib.telemetry","c":"Alert","l":"activeStartTime"},{"p":"swervelib","c":"SwerveController","l":"addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter)","u":"addSlewRateLimiters(edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter)"},{"p":"swervelib","c":"SwerveDrive","l":"addVisionMeasurement(Pose2d, double)","u":"addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)"},{"p":"swervelib","c":"SwerveDrive","l":"addVisionMeasurement(Pose2d, double, Matrix)","u":"addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"ADIS16448Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"ADIS16470Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveModule","l":"adjAbsoluteAngleName"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"ADXRS450Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.telemetry","c":"Alert","l":"Alert(String, Alert.AlertType)","u":"%3Cinit%3E(java.lang.String,swervelib.telemetry.Alert.AlertType)"},{"p":"swervelib.telemetry","c":"Alert","l":"Alert(String, String, Alert.AlertType)","u":"%3Cinit%3E(java.lang.String,java.lang.String,swervelib.telemetry.Alert.AlertType)"},{"p":"swervelib.telemetry","c":"Alert.SendableAlerts","l":"alerts"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"AlertType()","u":"%3Cinit%3E()"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(AnalogInput)","u":"%3Cinit%3E(edu.wpi.first.wpilibj.AnalogInput)"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"AnalogGyroSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"angle"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"angle"},{"p":"swervelib.parser.json","c":"PIDFPropertiesJson","l":"angle"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"angle"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"angleJoystickRadiusDeadband"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"angleJoyStickRadiusDeadband"},{"p":"swervelib","c":"SwerveController","l":"angleLimiter"},{"p":"swervelib","c":"SwerveDriveTest","l":"angleModules(SwerveDrive, Rotation2d)","u":"angleModules(swervelib.SwerveDrive,edu.wpi.first.math.geometry.Rotation2d)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotor"},{"p":"swervelib","c":"SwerveModule","l":"angleMotor"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorCurrentLimit"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotorInverted"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorRampRate"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleOffset"},{"p":"swervelib","c":"SwerveModule","l":"angleOffset"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"anglePIDF"},{"p":"swervelib.math","c":"SwerveMath","l":"antiJitter(SwerveModuleState, SwerveModuleState, double)","u":"antiJitter(edu.wpi.first.math.kinematics.SwerveModuleState,edu.wpi.first.math.kinematics.SwerveModuleState,double)"},{"p":"swervelib","c":"SwerveModule","l":"antiJitterEnabled"},{"p":"swervelib.math","c":"SwerveMath","l":"applyDeadband(double, boolean, double)","u":"applyDeadband(double,boolean,double)"},{"p":"swervelib","c":"SwerveDrive","l":"attainableMaxRotationalVelocityRadiansPerSecond"},{"p":"swervelib","c":"SwerveDrive","l":"attainableMaxTranslationalSpeedMetersPerSecond"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"BoolMotorJson()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"burnFlash()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"burnFlash()"},{"p":"swervelib.parser","c":"Cache","l":"Cache(Supplier, long)","u":"%3Cinit%3E(java.util.function.Supplier,long)"},{"p":"swervelib.math","c":"SwerveMath","l":"calcMaxAccel(Rotation2d, List, double, SwerveDriveConfiguration)","u":"calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateDegreesPerSteeringRotation(double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateDegreesPerSteeringRotation(double, double)","u":"calculateDegreesPerSteeringRotation(double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAcceleration(double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAcceleration(double, double, double, double, double)","u":"calculateMaxAcceleration(double,double,double,double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAngularVelocity(double, double, double)","u":"calculateMaxAngularVelocity(double,double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMetersPerRotation(double, double)","u":"calculateMetersPerRotation(double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMetersPerRotation(double, double, double)","u":"calculateMetersPerRotation(double,double,double)"},{"p":"swervelib.encoders","c":"CanAndCoderSwerve","l":"CanAndCoderSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"canbus"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"CANCoderSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"CANCoderSwerve(int, 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double)","u":"setReference(double,double,double)"},{"p":"swervelib.telemetry","c":"Alert","l":"setText(String)","u":"setText(java.lang.String)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"setVoltage(double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setVoltage(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setVoltage(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setVoltage(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setVoltage(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setVoltage(double)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib","c":"SwerveDrive","l":"simIMU"},{"p":"swervelib","c":"SwerveModule","l":"simModule"},{"p":"swervelib.motors","c":"SparkFlexSwerve.SparkMAX_slotIdx","l":"Simulation"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Simulation"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"sizeFrontBack"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"sizeLeftRight"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"SparkFlexSwerve(CANSparkFlex, boolean)","u":"%3Cinit%3E(com.revrobotics.CANSparkFlex,boolean)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"SparkFlexSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"SparkFlexSwerve.SparkMAX_slotIdx","l":"SparkMAX_slotIdx()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"SparkMAX_slotIdx()","u":"%3Cinit%3E()"},{"p":"swervelib.encoders","c":"SparkMaxAnalogEncoderSwerve","l":"SparkMaxAnalogEncoderSwerve(SwerveMotor)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"SparkMaxBrushedMotorSwerve(CANSparkMax, boolean, SparkRelativeEncoder.Type, int, boolean)","u":"%3Cinit%3E(com.revrobotics.CANSparkMax,boolean,com.revrobotics.SparkRelativeEncoder.Type,int,boolean)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"SparkMaxBrushedMotorSwerve(int, boolean, SparkRelativeEncoder.Type, int, boolean)","u":"%3Cinit%3E(int,boolean,com.revrobotics.SparkRelativeEncoder.Type,int,boolean)"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"SparkMaxEncoderSwerve(SwerveMotor, int)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor,int)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"SparkMaxSwerve(CANSparkMax, boolean)","u":"%3Cinit%3E(com.revrobotics.CANSparkMax,boolean)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"SparkMaxSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"state"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"STATUS_TIMEOUT_SECONDS"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"STATUS_TIMEOUT_SECONDS"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"STATUS_TIMEOUT_SECONDS"},{"p":"swervelib","c":"SwerveDrive","l":"stopOdometryThread()"},{"p":"swervelib.parser","c":"Cache","l":"supplier"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"SwerveAbsoluteEncoder()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDrive","l":"swerveController"},{"p":"swervelib","c":"SwerveController","l":"SwerveController(SwerveControllerConfiguration)","u":"%3Cinit%3E(swervelib.parser.SwerveControllerConfiguration)"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double)","u":"%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double, double)","u":"%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double,double)"},{"p":"swervelib","c":"SwerveDrive","l":"SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration, double)","u":"%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.SwerveControllerConfiguration,double)"},{"p":"swervelib","c":"SwerveDrive","l":"swerveDriveConfiguration"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, boolean, SimpleMotorFeedforward, SwerveModulePhysicalCharacteristics)","u":"%3Cinit%3E(swervelib.parser.SwerveModuleConfiguration[],swervelib.imu.SwerveIMU,boolean,edu.wpi.first.math.controller.SimpleMotorFeedforward,swervelib.parser.SwerveModulePhysicalCharacteristics)"},{"p":"swervelib.parser","c":"SwerveParser","l":"swerveDriveJson"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"SwerveDriveJson()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDrive","l":"swerveDrivePoseEstimator"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"SwerveDriveTelemetry()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDriveTest","l":"SwerveDriveTest()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"SwerveIMU()","u":"%3Cinit%3E()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"SwerveIMUSimulation()","u":"%3Cinit%3E()"},{"p":"swervelib.math","c":"SwerveMath","l":"SwerveMath()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveModule","l":"SwerveModule(int, SwerveModuleConfiguration, SimpleMotorFeedforward)","u":"%3Cinit%3E(int,swervelib.parser.SwerveModuleConfiguration,edu.wpi.first.math.controller.SimpleMotorFeedforward)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, String, boolean)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.parser.json.MotorConfigDouble,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,java.lang.String,boolean)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String, boolean)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.parser.json.MotorConfigDouble,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String,boolean)"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double)","u":"%3Cinit%3E(swervelib.parser.json.MotorConfigDouble,double,double)"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double, int, int, double, double)","u":"%3Cinit%3E(swervelib.parser.json.MotorConfigDouble,double,double,int,int,double,double)"},{"p":"swervelib","c":"SwerveDrive","l":"swerveModules"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"SwerveModuleSimulation()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"SwerveMotor()","u":"%3Cinit%3E()"},{"p":"swervelib.parser","c":"SwerveParser","l":"SwerveParser(File)","u":"%3Cinit%3E(java.io.File)"},{"p":"swervelib","c":"SwerveModule","l":"synchronizeEncoderQueued"},{"p":"swervelib","c":"SwerveDrive","l":"synchronizeModuleEncoders()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, String, boolean)","u":"%3Cinit%3E(int,java.lang.String,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(TalonFX, boolean)","u":"%3Cinit%3E(com.ctre.phoenix6.hardware.TalonFX,boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"TalonSRXSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"TalonSRXSwerve(WPI_TalonSRX, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX,boolean)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"TelemetryVerbosity()","u":"%3Cinit%3E()"},{"p":"swervelib.telemetry","c":"Alert","l":"text"},{"p":"swervelib","c":"SwerveController","l":"thetaController"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"timer"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"timer"},{"p":"swervelib.parser","c":"Cache","l":"timestamp"},{"p":"swervelib","c":"SwerveDrive","l":"tunerXRecommendation"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"type"},{"p":"swervelib.telemetry","c":"Alert","l":"type"},{"p":"swervelib.parser","c":"Cache","l":"update()"},{"p":"swervelib","c":"SwerveDrive","l":"updateCacheValidityPeriods(long, long, long)","u":"updateCacheValidityPeriods(long,long,long)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"updateData()"},{"p":"swervelib","c":"SwerveDrive","l":"updateOdometry()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"updateOdometry(SwerveDriveKinematics, SwerveModuleState[], Pose2d[], Field2d)","u":"updateOdometry(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.kinematics.SwerveModuleState[],edu.wpi.first.math.geometry.Pose2d[],edu.wpi.first.wpilibj.smartdashboard.Field2d)"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"updateStateAndPosition(SwerveModuleState)","u":"updateStateAndPosition(edu.wpi.first.math.kinematics.SwerveModuleState)"},{"p":"swervelib.parser","c":"Cache","l":"updateSupplier(Supplier)","u":"updateSupplier(java.util.function.Supplier)"},{"p":"swervelib","c":"SwerveModule","l":"updateTelemetry()"},{"p":"swervelib.parser","c":"Cache","l":"updateValidityPeriod(long)"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"useCosineCompensator"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"useCosineCompensator"},{"p":"swervelib.parser","c":"Cache","l":"validityPeriod"},{"p":"swervelib.parser","c":"Cache","l":"value"},{"p":"swervelib.motors","c":"SparkFlexSwerve.SparkMAX_slotIdx","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"SparkFlexSwerve.SparkMAX_slotIdx","l":"values()"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"values()"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"values()"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"values()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"velocity"},{"p":"swervelib.motors","c":"SparkFlexSwerve.SparkMAX_slotIdx","l":"Velocity"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Velocity"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"velocityPIDF"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"verbosity"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"WARNING"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"WARNING_TRACE"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"wheelLocations"},{"p":"swervelib","c":"SwerveController","l":"withinHypotDeadband(double, double)","u":"withinHypotDeadband(double,double)"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"x"},{"p":"swervelib","c":"SwerveController","l":"xLimiter"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"y"},{"p":"swervelib","c":"SwerveController","l":"yLimiter"},{"p":"swervelib","c":"SwerveDrive","l":"zeroGyro()"}];updateSearchResults(); \ No newline at end of file diff --git a/docs/overview-summary.html b/docs/overview-summary.html index 46a77ce..03d9467 100644 --- a/docs/overview-summary.html +++ b/docs/overview-summary.html @@ -1,11 +1,11 @@ - + Generated Documentation (Untitled) - + diff --git a/docs/overview-tree.html b/docs/overview-tree.html index 4d97564..50254f2 100644 --- a/docs/overview-tree.html +++ b/docs/overview-tree.html @@ -1,11 +1,11 @@ - + Class Hierarchy - + diff --git a/docs/swervelib/SwerveController.html b/docs/swervelib/SwerveController.html index 5614b43..b48e7fd 100644 --- a/docs/swervelib/SwerveController.html +++ b/docs/swervelib/SwerveController.html @@ -1,11 +1,11 @@ - + SwerveController - + diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index eb14b73..a15258f 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,11 +1,11 @@ - + SwerveDrive - + @@ -107,89 +107,94 @@ loadScripts(document, 'script');
Correct chassis velocity in drive(Translation2d, double, boolean, boolean) using 254's correction.
-
edu.wpi.first.wpilibj.smartdashboard.Field2d
-
field
+
private double
+
discretizationdtSeconds
+
Amount of seconds the duration of the timestep the speeds should be applied for.
+
+
edu.wpi.first.wpilibj.smartdashboard.Field2d
+
field
+
Field object.
-
private double
-
HEADING_CORRECTION_DEADBAND
-
+
private double
+
HEADING_CORRECTION_DEADBAND
+
Deadband for speeds in heading correction.
-
boolean
-
headingCorrection
-
+
boolean
+
headingCorrection
+
Whether to correct heading when driving translationally.
-
private SwerveIMU
-
imu
-
+
private SwerveIMU
+
imu
+
Swerve IMU device for sensing the heading of the robot.
-
final Cache<edu.wpi.first.math.geometry.Rotation3d>
-
imuReadingCache
-
+
final Cache<edu.wpi.first.math.geometry.Rotation3d>
+
imuReadingCache
+
IMU reading cache for robot readings.
-
final edu.wpi.first.math.kinematics.SwerveDriveKinematics
-
kinematics
-
+
final edu.wpi.first.math.kinematics.SwerveDriveKinematics
+
kinematics
+
Swerve Kinematics object.
-
private double
-
lastHeadingRadians
-
+
private double
+
lastHeadingRadians
+
The last heading set in radians.
-
private double
-
maxSpeedMPS
-
+
private double
+
maxSpeedMPS
+
Maximum speed of the robot in meters per second.
-
private int
-
moduleSynchronizationCounter
-
+
private int
+
moduleSynchronizationCounter
+
Counter to synchronize the modules relative encoder with absolute encoder when not moving.
-
private final Lock
-
odometryLock
-
+
private final Lock
+
odometryLock
+
Odometry lock to ensure thread safety.
-
private final edu.wpi.first.wpilibj.Notifier
-
odometryThread
-
+
private final edu.wpi.first.wpilibj.Notifier
+
odometryThread
+
WPILib Notifier to keep odometry up to date.
-
private SwerveIMUSimulation
-
simIMU
-
+
private SwerveIMUSimulation
+
simIMU
+
Simulation of the swerve drive.
-
SwerveController
-
swerveController
-
+
SwerveController
+
swerveController
+
Swerve controller for controlling heading of the robot.
-
final SwerveDriveConfiguration
-
swerveDriveConfiguration
-
+
final SwerveDriveConfiguration
+
swerveDriveConfiguration
+
Swerve drive configuration.
-
final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator
-
swerveDrivePoseEstimator
-
+
final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator
+
swerveDrivePoseEstimator
+
Swerve odometry.
-
private final SwerveModule[]
-
swerveModules
-
+
private final SwerveModule[]
+
swerveModules
+
Swerve modules.
-
private final Alert
-
tunerXRecommendation
-
+
private final Alert
+
tunerXRecommendation
+
Alert to recommend Tuner X if the configuration is compatible.
@@ -289,141 +294,154 @@ loadScripts(document, 'script');
Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
-
Optional<edu.wpi.first.math.geometry.Translation3d>
-
getAccel()
+
void
+
driveFieldOrientedandRobotOriented(edu.wpi.first.math.kinematics.ChassisSpeeds fieldOrientedVelocity, + edu.wpi.first.math.kinematics.ChassisSpeeds robotOrientedVelocity)
+
Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same + time.
+
+
Optional<edu.wpi.first.math.geometry.Translation3d>
+
getAccel()
+
Gets current acceleration of the robot in m/s/s.
-
edu.wpi.first.math.kinematics.ChassisSpeeds
-
getFieldVelocity()
-
+
edu.wpi.first.math.kinematics.ChassisSpeeds
+
getFieldVelocity()
+
Gets the current field-relative velocity (x, y and omega) of the robot
-
SwerveIMU
-
getGyro()
-
+
SwerveIMU
+
getGyro()
+
Getter for the SwerveIMU.
-
edu.wpi.first.math.geometry.Rotation3d
-
getGyroRotation3d()
-
+
edu.wpi.first.math.geometry.Rotation3d
+
getGyroRotation3d()
+
Gets the current gyro Rotation3d of the robot, as reported by the imu.
-
double
-
getMaximumAngularVelocity()
-
+
double
+
getMaximumAngularVelocity()
+
Get the maximum angular velocity, either attainableMaxRotationalVelocityRadiansPerSecond or SwerveControllerConfiguration.maxAngularVelocity.
-
double
-
getMaximumVelocity()
-
+
double
+
getMaximumVelocity()
+
Get the maximum velocity from attainableMaxTranslationalSpeedMetersPerSecond or maxSpeedMPS whichever is higher.
-
Map<String,SwerveModule>
-
getModuleMap()
-
+
Map<String,SwerveModule>
+
getModuleMap()
+
Get the SwerveModule's as a HashMap where the key is the swerve module configuration name.
-
edu.wpi.first.math.kinematics.SwerveModulePosition[]
-
getModulePositions()
-
+
edu.wpi.first.math.kinematics.SwerveModulePosition[]
+
getModulePositions()
+
Gets the current module positions (azimuth and wheel position (meters)).
-
SwerveModule[]
-
getModules()
-
+
SwerveModule[]
+
getModules()
+
Get the SwerveModules associated with the SwerveDrive.
-
edu.wpi.first.math.geometry.Rotation2d
-
getOdometryHeading()
-
+
edu.wpi.first.math.geometry.Rotation2d
+
getOdometryHeading()
+
Fetch the latest odometry heading, should be trusted over getYaw().
-
edu.wpi.first.math.geometry.Rotation2d
-
getPitch()
-
+
edu.wpi.first.math.geometry.Rotation2d
+
getPitch()
+
Gets the current pitch angle of the robot, as reported by the imu.
-
edu.wpi.first.math.geometry.Pose2d
-
getPose()
-
+
edu.wpi.first.math.geometry.Pose2d
+
getPose()
+
Gets the current pose (position and rotation) of the robot, as reported by odometry.
-
edu.wpi.first.math.kinematics.ChassisSpeeds
-
getRobotVelocity()
-
+
edu.wpi.first.math.kinematics.ChassisSpeeds
+
getRobotVelocity()
+
Gets the current robot-relative velocity (x, y and omega) of the robot
-
edu.wpi.first.math.geometry.Rotation2d
-
getRoll()
-
+
edu.wpi.first.math.geometry.Rotation2d
+
getRoll()
+
Gets the current roll angle of the robot, as reported by the imu.
-
edu.wpi.first.math.kinematics.SwerveModuleState[]
-
getStates()
-
+
edu.wpi.first.math.kinematics.SwerveModuleState[]
+
getStates()
+
Gets the current module states (azimuth and velocity)
-
SwerveController
-
getSwerveController()
-
+
SwerveController
+
getSwerveController()
+
Helper function to get the swerveController for the SwerveDrive which can be used to generate ChassisSpeeds for the robot to orient it correctly given axis or angles, and apply SlewRateLimiter to given inputs.
-
edu.wpi.first.math.geometry.Pose2d[]
-
getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d robotPose)
-
+
edu.wpi.first.math.geometry.Pose2d[]
+
getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d robotPose)
+
Get the swerve module poses and on the field relative to the robot.
-
edu.wpi.first.math.geometry.Rotation2d
-
getYaw()
-
+
edu.wpi.first.math.geometry.Rotation2d
+
getYaw()
+
Gets the current yaw angle of the robot, as reported by the imu.
-
void
-
lockPose()
-
+
void
+
lockPose()
+
Point all modules toward the robot center, thus making the robot very difficult to move.
-
void
-
postTrajectory(edu.wpi.first.math.trajectory.Trajectory trajectory)
-
+
void
+
postTrajectory(edu.wpi.first.math.trajectory.Trajectory trajectory)
+
Post the trajectory to the field
-
void
-
pushOffsetsToControllers()
-
+
void
+
pushOffsetsToEncoders()
+
Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.
-
void
-
replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)
-
+
void
+
replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)
+
Setup the swerve module feedforward.
-
void
-
resetDriveEncoders()
-
+
void
+
resetDriveEncoders()
+
Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in autonomous.
-
void
-
resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
-
+
void
+
resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
+
Resets odometry to the given pose.
-
void
-
restoreInternalOffset()
-
+
void
+
restoreInternalOffset()
+
Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0
-
void
-
setAngleMotorConversionFactor(double conversionFactor)
-
+
void
+
setAngleMotorConversionFactor(double conversionFactor)
+
Set the conversion factor for the angle/azimuth motor controller.
+
void
+
setChassisDiscretization(boolean enable, + double dtSeconds)
+
+
Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction
+
void
setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
@@ -636,6 +654,13 @@ loadScripts(document, 'script');
  • +
    +

    discretizationdtSeconds

    +
    private double discretizationdtSeconds
    +
    Amount of seconds the duration of the timestep the speeds should be applied for.
    +
    +
    • +

  • HEADING_CORRECTION_DEADBAND

    private double HEADING_CORRECTION_DEADBAND
    @@ -828,6 +853,20 @@ loadScripts(document, 'script');
  • +
    +

    driveFieldOrientedandRobotOriented

    +
    public void driveFieldOrientedandRobotOriented(edu.wpi.first.math.kinematics.ChassisSpeeds fieldOrientedVelocity, + edu.wpi.first.math.kinematics.ChassisSpeeds robotOrientedVelocity)
    +
    Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same + time. The inputs are added together so this is not intneded to be used to give the driver both methods of control.
    +
    +
    Parameters:
    +
    fieldOrientedVelocity - The field oriented velocties to use
    +
    robotOrientedVelocity - The robot oriented velocties to use
    +
    +
    +
    • +

  • driveFieldOriented

    public void driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
    @@ -1377,9 +1416,9 @@ loadScripts(document, 'script');
  • -
    -

    pushOffsetsToControllers

    -
    public void pushOffsetsToControllers()
    +
    +

    pushOffsetsToEncoders

    +
    public void pushOffsetsToEncoders()
    Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type. Also removes the internal offsets to prevent double offsetting.
    @@ -1404,6 +1443,20 @@ loadScripts(document, 'script');
    • +
  • +
    +

    setChassisDiscretization

    +
    public void setChassisDiscretization(boolean enable, + double dtSeconds)
    +
    Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction
    +
    +
    Parameters:
    +
    enable - Enable chassis velocity correction, which will use + ChassisSpeeds.discretize(ChassisSpeeds, double) with the following.
    +
    dtSeconds - The duration of the timestep the speeds should be applied for.
    +
    +
    +
    • diff --git a/docs/swervelib/SwerveDriveTest.html b/docs/swervelib/SwerveDriveTest.html index 4d056ad..e7a2480 100644 --- a/docs/swervelib/SwerveDriveTest.html +++ b/docs/swervelib/SwerveDriveTest.html @@ -1,11 +1,11 @@ - + SwerveDriveTest - + diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html index d40c268..fc23df5 100644 --- a/docs/swervelib/SwerveModule.html +++ b/docs/swervelib/SwerveModule.html @@ -1,11 +1,11 @@ - + SwerveModule - + @@ -191,14 +191,19 @@ loadScripts(document, 'script');
    NT3 Raw drive motor.
    -
    private SwerveModuleSimulation
    -
    simModule
    +
    private final String
    +
    rawDriveVelName
    +
    NT3 Raw drive motor.
    +
    +
    private SwerveModuleSimulation
    +
    simModule
    +
    Simulated swerve module.
    -
    private boolean
    -
    synchronizeEncoderQueued
    -
    +
    private boolean
    +
    synchronizeEncoderQueued
    +
    Encoder synchronization queued.
    @@ -298,7 +303,7 @@ loadScripts(document, 'script');
    Get the Swerve Module state.
    void
    -
    pushOffsetsToControllers()
    +
    pushOffsetsToEncoders()
    Push absolute encoder offset in the memory of the encoder or controller.
    @@ -490,6 +495,13 @@ loadScripts(document, 'script');
  • +
    +

    rawDriveVelName

    +
    private final String rawDriveVelName
    +
    NT3 Raw drive motor.
    +
    +
    • +

  • moduleNumber

    public int moduleNumber
    @@ -497,13 +509,6 @@ loadScripts(document, 'script');
  • -
    -

    driveMotorFeedforward

    -
    private edu.wpi.first.math.controller.SimpleMotorFeedforward driveMotorFeedforward
    -
    Feedforward for the drive motor during closed loop control.
    -
    -
    • -

  • maxSpeed

    public double maxSpeed
    @@ -511,6 +516,13 @@ loadScripts(document, 'script');
  • +
    +

    driveMotorFeedforward

    +
    private edu.wpi.first.math.controller.SimpleMotorFeedforward driveMotorFeedforward
    +
    Feedforward for the drive motor during closed loop control.
    +
    +
    • +

  • antiJitterEnabled

    private boolean antiJitterEnabled
    @@ -630,17 +642,6 @@ loadScripts(document, 'script');
  • -
    -

    setDrivePIDF

    -
    public void setDrivePIDF(PIDFConfig config)
    -
    Set the drive PIDF values.
    -
    -
    Parameters:
    -
    config - PIDFConfig of that should be set.
    -
    -
    -
    • -

  • getDrivePIDF

    public PIDFConfig getDrivePIDF()
    @@ -652,10 +653,10 @@ loadScripts(document, 'script');
  • -
    -

    setAnglePIDF

    -
    public void setAnglePIDF(PIDFConfig config)
    -
    Set the angle/azimuth/steering motor PID
    +
    +

    setDrivePIDF

    +
    public void setDrivePIDF(PIDFConfig config)
    +
    Set the drive PIDF values.
    Parameters:
    config - PIDFConfig of that should be set.
    @@ -674,6 +675,17 @@ loadScripts(document, 'script');
  • +
    +

    setAnglePIDF

    +
    public void setAnglePIDF(PIDFConfig config)
    +
    Set the angle/azimuth/steering motor PID
    +
    +
    Parameters:
    +
    config - PIDFConfig of that should be set.
    +
    +
    +
    • +

  • setDesiredState

    public void setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState desiredState, @@ -849,9 +861,9 @@ loadScripts(document, 'script');
  • -
    -

    pushOffsetsToControllers

    -
    public void pushOffsetsToControllers()
    +
    +

    pushOffsetsToEncoders

    +
    public void pushOffsetsToEncoders()
    Push absolute encoder offset in the memory of the encoder or controller. Also removes the internal angle offset.
    • diff --git a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html index d068f1f..34d846d 100644 --- a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html +++ b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html @@ -1,11 +1,11 @@ - + AnalogAbsoluteEncoderSwerve - + diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html index b298fa5..e5fd7c0 100644 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ b/docs/swervelib/encoders/CANCoderSwerve.html @@ -1,11 +1,11 @@ - + CANCoderSwerve - + diff --git a/docs/swervelib/encoders/CanAndCoderSwerve.html b/docs/swervelib/encoders/CanAndCoderSwerve.html index 6777db0..b50c40a 100644 --- a/docs/swervelib/encoders/CanAndCoderSwerve.html +++ b/docs/swervelib/encoders/CanAndCoderSwerve.html @@ -1,11 +1,11 @@ - + CanAndCoderSwerve - + diff --git a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html b/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html index 5142caa..ae56419 100644 --- a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html +++ b/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html @@ -1,11 +1,11 @@ - + PWMDutyCycleEncoderSwerve - + @@ -113,6 +113,11 @@ loadScripts(document, 'script');
    Inversion state.
    +
    private double
    +
    offset
    +
    +
    The Offset in degrees of the PWM absolute encoder.
    +

    Fields inherited from class swervelib.encoders.SwerveAbsoluteEncoder

    @@ -178,7 +183,7 @@ loadScripts(document, 'script');
    boolean
    setAbsoluteEncoderOffset(double offset)
    -
    Sets the offset of the Encoder in the WPILib Encoder Library.
    +
    Sets the Absolute Encoder offset at the Encoder Level.
    @@ -218,6 +223,13 @@ loadScripts(document, 'script');
    An Alert for if the encoder cannot report accurate velocities.
    +
  • +
    +

    offset

    +
    private double offset
    +
    The Offset in degrees of the PWM absolute encoder.
    +
    +
    • @@ -323,14 +335,15 @@ loadScripts(document, 'script');

    setAbsoluteEncoderOffset

    public boolean setAbsoluteEncoderOffset(double offset)
    -
    Sets the offset of the Encoder in the WPILib Encoder Library.
    +
    Description copied from class: SwerveAbsoluteEncoder
    +
    Sets the Absolute Encoder offset at the Encoder Level.
    Specified by:
    setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
    Parameters:
    -
    offset - the offset the Absolute Encoder uses as the zero point.
    +
    offset - the offset the Absolute Encoder uses as the zero point in degrees.
    Returns:
    -
    Always true due to no external device commands.
    +
    if setting Absolute Encoder Offset was successful or not.
    diff --git a/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html index fcabffd..3b6bc7e 100644 --- a/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxAnalogEncoderSwerve - + diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html index 7272992..06eed77 100644 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxEncoderSwerve - + diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html index f40c1b9..9e9f9fe 100644 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html @@ -1,11 +1,11 @@ - + SwerveAbsoluteEncoder - + @@ -282,7 +282,7 @@ loadScripts(document, 'script');
    Sets the Absolute Encoder offset at the Encoder Level.
    Parameters:
    -
    offset - the offset the Absolute Encoder uses as the zero point.
    +
    offset - the offset the Absolute Encoder uses as the zero point in degrees.
    Returns:
    if setting Absolute Encoder Offset was successful or not.
    diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html index dbee18d..2f321f5 100644 --- a/docs/swervelib/encoders/package-summary.html +++ b/docs/swervelib/encoders/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.encoders - + diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html index eec3962..7dbc498 100644 --- a/docs/swervelib/encoders/package-tree.html +++ b/docs/swervelib/encoders/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.encoders Class Hierarchy - + diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html index 5f3d503..d4d74b0 100644 --- a/docs/swervelib/imu/ADIS16448Swerve.html +++ b/docs/swervelib/imu/ADIS16448Swerve.html @@ -1,11 +1,11 @@ - + ADIS16448Swerve - + diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html index 35ea15c..c755ac5 100644 --- a/docs/swervelib/imu/ADIS16470Swerve.html +++ b/docs/swervelib/imu/ADIS16470Swerve.html @@ -1,11 +1,11 @@ - + ADIS16470Swerve - + diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html index c9eee05..724d126 100644 --- a/docs/swervelib/imu/ADXRS450Swerve.html +++ b/docs/swervelib/imu/ADXRS450Swerve.html @@ -1,11 +1,11 @@ - + ADXRS450Swerve - + diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html index d0666a8..3aa2a7a 100644 --- a/docs/swervelib/imu/AnalogGyroSwerve.html +++ b/docs/swervelib/imu/AnalogGyroSwerve.html @@ -1,11 +1,11 @@ - + AnalogGyroSwerve - + diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html index a354f70..acc76cc 100644 --- a/docs/swervelib/imu/NavXSwerve.html +++ b/docs/swervelib/imu/NavXSwerve.html @@ -1,11 +1,11 @@ - + NavXSwerve - + diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html index 15dc193..ca3cffd 100644 --- a/docs/swervelib/imu/Pigeon2Swerve.html +++ b/docs/swervelib/imu/Pigeon2Swerve.html @@ -1,11 +1,11 @@ - + Pigeon2Swerve - + diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html index fb6a207..4574ba6 100644 --- a/docs/swervelib/imu/PigeonSwerve.html +++ b/docs/swervelib/imu/PigeonSwerve.html @@ -1,11 +1,11 @@ - + PigeonSwerve - + diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html index 8d11b1e..2dba211 100644 --- a/docs/swervelib/imu/SwerveIMU.html +++ b/docs/swervelib/imu/SwerveIMU.html @@ -1,11 +1,11 @@ - + SwerveIMU - + diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html index 68ee45b..4b55447 100644 --- a/docs/swervelib/imu/package-summary.html +++ b/docs/swervelib/imu/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.imu - + diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html index 2ee619b..f2fed93 100644 --- a/docs/swervelib/imu/package-tree.html +++ b/docs/swervelib/imu/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.imu Class Hierarchy - + diff --git a/docs/swervelib/math/Matter.html b/docs/swervelib/math/Matter.html index bb8431b..2a26c0a 100644 --- a/docs/swervelib/math/Matter.html +++ b/docs/swervelib/math/Matter.html @@ -1,11 +1,11 @@ - + Matter - + diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html index 99254a7..8e079e3 100644 --- a/docs/swervelib/math/SwerveMath.html +++ b/docs/swervelib/math/SwerveMath.html @@ -1,11 +1,11 @@ - + SwerveMath - + @@ -180,40 +180,51 @@ loadScripts(document, 'script');
    Create the drive feedforward for swerve modules.
    -
    static SwerveModuleConfiguration
    -
    getSwerveModule(SwerveModule[] modules, +
    static edu.wpi.first.math.geometry.Translation2d
    +
    cubeTranslation(edu.wpi.first.math.geometry.Translation2d translation)
    +
    +
    Cube the Translation2d magnitude given in Polar coordinates.
    +
    +
    static SwerveModuleConfiguration
    +
    getSwerveModule(SwerveModule[] modules, boolean front, boolean left)
    -
    +
    Get the fruthest module from center based on the module locations.
    -
    static edu.wpi.first.math.geometry.Translation2d
    -
    limitVelocity(edu.wpi.first.math.geometry.Translation2d commandedVelocity, +
    static edu.wpi.first.math.geometry.Translation2d
    +
    limitVelocity(edu.wpi.first.math.geometry.Translation2d commandedVelocity, edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity, edu.wpi.first.math.geometry.Pose2d robotPose, double loopTime, double robotMass, List<Matter> matter, SwerveDriveConfiguration config)
    -
    +
    Limits a commanded velocity to prevent exceeding the maximum acceleration given by calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration).
    -
    static double
    -
    normalizeAngle(double angle)
    -
    +
    static double
    +
    normalizeAngle(double angle)
    +
    Normalize an angle to be within 0 to 360.
    -
    static double
    -
    placeInAppropriate0To360Scope(double scopeReference, +
    static double
    +
    placeInAppropriate0To360Scope(double scopeReference, double newAngle)
    -
    +
    Put an angle within the 360 deg scope of a reference.
    -
    static edu.wpi.first.math.geometry.Twist2d
    -
    PoseLog(edu.wpi.first.math.geometry.Pose2d transform)
    -
    +
    static edu.wpi.first.math.geometry.Twist2d
    +
    PoseLog(edu.wpi.first.math.geometry.Pose2d transform)
    +
    Logical inverse of the Pose exponential from 254.
    +
    static edu.wpi.first.math.geometry.Translation2d
    +
    scaleTranslation(edu.wpi.first.math.geometry.Translation2d translation, + double scalar)
    +
    +
    Scale the Translation2d Polar coordinate magnitude.
    +
    @@ -518,6 +529,34 @@ loadScripts(document, 'script'); +
  • +
    +

    cubeTranslation

    +
    public static edu.wpi.first.math.geometry.Translation2d cubeTranslation(edu.wpi.first.math.geometry.Translation2d translation)
    +
    Cube the Translation2d magnitude given in Polar coordinates.
    +
    +
    Parameters:
    +
    translation - Translation2d to manipulate.
    +
    Returns:
    +
    Cubed magnitude from Translation2d.
    +
    +
    +
    • +
  • +
    +

    scaleTranslation

    +
    public static edu.wpi.first.math.geometry.Translation2d scaleTranslation(edu.wpi.first.math.geometry.Translation2d translation, + double scalar)
    +
    Scale the Translation2d Polar coordinate magnitude.
    +
    +
    Parameters:
    +
    translation - Translation2d to use.
    +
    scalar - Multiplier for the Polar coordinate magnitude to use.
    +
    Returns:
    +
    Translation2d scaled by given magnitude scalar.
    +
    +
    +
    • diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html index 1df650c..3ca8be5 100644 --- a/docs/swervelib/math/package-summary.html +++ b/docs/swervelib/math/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.math - + diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html index f6c3ff4..bba8f6c 100644 --- a/docs/swervelib/math/package-tree.html +++ b/docs/swervelib/math/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.math Class Hierarchy - + diff --git a/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html index 187396c..3c01e5a 100644 --- a/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html @@ -1,11 +1,11 @@ - + SparkFlexSwerve.SparkMAX_slotIdx - + diff --git a/docs/swervelib/motors/SparkFlexSwerve.html b/docs/swervelib/motors/SparkFlexSwerve.html index 80fd40a..5da98c9 100644 --- a/docs/swervelib/motors/SparkFlexSwerve.html +++ b/docs/swervelib/motors/SparkFlexSwerve.html @@ -1,11 +1,11 @@ - + SparkFlexSwerve - + diff --git a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html index 885dce4..e0ec23e 100644 --- a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html +++ b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxBrushedMotorSwerve - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html index e292410..fe9a91f 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve.SparkMAX_slotIdx - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html index 26de12c..819f36c 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.html +++ b/docs/swervelib/motors/SparkMaxSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve - + diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html index d520e3f..bba17d5 100644 --- a/docs/swervelib/motors/SwerveMotor.html +++ b/docs/swervelib/motors/SwerveMotor.html @@ -1,11 +1,11 @@ - + SwerveMotor - + diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html index 9968d5f..a00df60 100644 --- a/docs/swervelib/motors/TalonFXSwerve.html +++ b/docs/swervelib/motors/TalonFXSwerve.html @@ -1,11 +1,11 @@ - + TalonFXSwerve - + diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html index 3c2ff0b..3fc8778 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.html +++ b/docs/swervelib/motors/TalonSRXSwerve.html @@ -1,11 +1,11 @@ - + TalonSRXSwerve - + diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html index 28192ea..6d2a86f 100644 --- a/docs/swervelib/motors/package-summary.html +++ b/docs/swervelib/motors/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.motors - + diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html index a738a57..3205c64 100644 --- a/docs/swervelib/motors/package-tree.html +++ b/docs/swervelib/motors/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.motors Class Hierarchy - + diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html index a9929c4..ed97791 100644 --- a/docs/swervelib/package-summary.html +++ b/docs/swervelib/package-summary.html @@ -1,11 +1,11 @@ - + swervelib - + diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html index 9d80d84..080ea51 100644 --- a/docs/swervelib/package-tree.html +++ b/docs/swervelib/package-tree.html @@ -1,11 +1,11 @@ - + swervelib Class Hierarchy - + diff --git a/docs/swervelib/parser/Cache.html b/docs/swervelib/parser/Cache.html index 36b6041..71d7b18 100644 --- a/docs/swervelib/parser/Cache.html +++ b/docs/swervelib/parser/Cache.html @@ -1,11 +1,11 @@ - + Cache - + diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html index 6c6ad1e..f3df0e1 100644 --- a/docs/swervelib/parser/PIDFConfig.html +++ b/docs/swervelib/parser/PIDFConfig.html @@ -1,11 +1,11 @@ - + PIDFConfig - + diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html index 04f4116..c25fd3d 100644 --- a/docs/swervelib/parser/SwerveControllerConfiguration.html +++ b/docs/swervelib/parser/SwerveControllerConfiguration.html @@ -1,11 +1,11 @@ - + SwerveControllerConfiguration - + diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html index cb2ced0..aa3c093 100644 --- a/docs/swervelib/parser/SwerveDriveConfiguration.html +++ b/docs/swervelib/parser/SwerveDriveConfiguration.html @@ -1,11 +1,11 @@ - + SwerveDriveConfiguration - + diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html index 5987191..99c8bd9 100644 --- a/docs/swervelib/parser/SwerveModuleConfiguration.html +++ b/docs/swervelib/parser/SwerveModuleConfiguration.html @@ -1,11 +1,11 @@ - + SwerveModuleConfiguration - + diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html index 7eb3c06..beee4d4 100644 --- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html +++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html @@ -1,11 +1,11 @@ - + SwerveModulePhysicalCharacteristics - + diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html index c75f7e0..e86369e 100644 --- a/docs/swervelib/parser/SwerveParser.html +++ b/docs/swervelib/parser/SwerveParser.html @@ -1,11 +1,11 @@ - + SwerveParser - + diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html index 8b0d579..d3cdd9a 100644 --- a/docs/swervelib/parser/deserializer/PIDFRange.html +++ b/docs/swervelib/parser/deserializer/PIDFRange.html @@ -1,11 +1,11 @@ - + PIDFRange - + diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html index b93b396..372bfa6 100644 --- a/docs/swervelib/parser/deserializer/package-summary.html +++ b/docs/swervelib/parser/deserializer/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer - + diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html index cdd14e3..c2cb087 100644 --- a/docs/swervelib/parser/deserializer/package-tree.html +++ b/docs/swervelib/parser/deserializer/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer Class Hierarchy - + diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html index 9267f53..4ee6d71 100644 --- a/docs/swervelib/parser/json/ControllerPropertiesJson.html +++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html @@ -1,11 +1,11 @@ - + ControllerPropertiesJson - + diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html index 8ec6a7d..ae82679 100644 --- a/docs/swervelib/parser/json/DeviceJson.html +++ b/docs/swervelib/parser/json/DeviceJson.html @@ -1,11 +1,11 @@ - + DeviceJson - + diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html index 7c71911..1d3f15c 100644 --- a/docs/swervelib/parser/json/ModuleJson.html +++ b/docs/swervelib/parser/json/ModuleJson.html @@ -1,11 +1,11 @@ - + ModuleJson - + diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html index 6b6f5b1..32ed154 100644 --- a/docs/swervelib/parser/json/MotorConfigDouble.html +++ b/docs/swervelib/parser/json/MotorConfigDouble.html @@ -1,11 +1,11 @@ - + MotorConfigDouble - + diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html index 8b6b787..e8f16c1 100644 --- a/docs/swervelib/parser/json/MotorConfigInt.html +++ b/docs/swervelib/parser/json/MotorConfigInt.html @@ -1,11 +1,11 @@ - + MotorConfigInt - + diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html index 9765457..02a2c5a 100644 --- a/docs/swervelib/parser/json/PIDFPropertiesJson.html +++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html @@ -1,11 +1,11 @@ - + PIDFPropertiesJson - + diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html index a4be922..be1a2f7 100644 --- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html +++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html @@ -1,11 +1,11 @@ - + PhysicalPropertiesJson - + diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html index b4ecbda..348418c 100644 --- a/docs/swervelib/parser/json/SwerveDriveJson.html +++ b/docs/swervelib/parser/json/SwerveDriveJson.html @@ -1,11 +1,11 @@ - + SwerveDriveJson - + diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html index eee80c8..cc620aa 100644 --- a/docs/swervelib/parser/json/modules/BoolMotorJson.html +++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html @@ -1,11 +1,11 @@ - + BoolMotorJson - + diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html index 2014499..1036b85 100644 --- a/docs/swervelib/parser/json/modules/LocationJson.html +++ b/docs/swervelib/parser/json/modules/LocationJson.html @@ -1,11 +1,11 @@ - + LocationJson - + diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html index 5cd47a1..0984e0e 100644 --- a/docs/swervelib/parser/json/modules/package-summary.html +++ b/docs/swervelib/parser/json/modules/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.json.modules - + diff --git a/docs/swervelib/parser/json/modules/package-tree.html b/docs/swervelib/parser/json/modules/package-tree.html index 17a07fb..60d7d66 100644 --- a/docs/swervelib/parser/json/modules/package-tree.html +++ b/docs/swervelib/parser/json/modules/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.json.modules Class Hierarchy - + diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html index fd37ced..36d59cd 100644 --- a/docs/swervelib/parser/json/package-summary.html +++ b/docs/swervelib/parser/json/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.json - + diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html index 2c547b6..318b395 100644 --- a/docs/swervelib/parser/json/package-tree.html +++ b/docs/swervelib/parser/json/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.json Class Hierarchy - + diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html index d8f034d..ae9b8ed 100644 --- a/docs/swervelib/parser/package-summary.html +++ b/docs/swervelib/parser/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser - + diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html index 27a4918..1a2aaa9 100644 --- a/docs/swervelib/parser/package-tree.html +++ b/docs/swervelib/parser/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser Class Hierarchy - + diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html index aed15f4..57a71e6 100644 --- a/docs/swervelib/simulation/SwerveIMUSimulation.html +++ b/docs/swervelib/simulation/SwerveIMUSimulation.html @@ -1,11 +1,11 @@ - + SwerveIMUSimulation - + diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html index 4baa7fc..c57628c 100644 --- a/docs/swervelib/simulation/SwerveModuleSimulation.html +++ b/docs/swervelib/simulation/SwerveModuleSimulation.html @@ -1,11 +1,11 @@ - + SwerveModuleSimulation - + diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html index 016c9ea..5a25b6d 100644 --- a/docs/swervelib/simulation/package-summary.html +++ b/docs/swervelib/simulation/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.simulation - + diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html index 73d8d44..ed83aef 100644 --- a/docs/swervelib/simulation/package-tree.html +++ b/docs/swervelib/simulation/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.simulation Class Hierarchy - + diff --git a/docs/swervelib/telemetry/Alert.AlertType.html b/docs/swervelib/telemetry/Alert.AlertType.html index d86e64f..94d04a0 100644 --- a/docs/swervelib/telemetry/Alert.AlertType.html +++ b/docs/swervelib/telemetry/Alert.AlertType.html @@ -1,11 +1,11 @@ - + Alert.AlertType - + diff --git a/docs/swervelib/telemetry/Alert.SendableAlerts.html b/docs/swervelib/telemetry/Alert.SendableAlerts.html index 02412e2..8baf177 100644 --- a/docs/swervelib/telemetry/Alert.SendableAlerts.html +++ b/docs/swervelib/telemetry/Alert.SendableAlerts.html @@ -1,11 +1,11 @@ - + Alert.SendableAlerts - + diff --git a/docs/swervelib/telemetry/Alert.html b/docs/swervelib/telemetry/Alert.html index 4405af4..cc70129 100644 --- a/docs/swervelib/telemetry/Alert.html +++ b/docs/swervelib/telemetry/Alert.html @@ -1,11 +1,11 @@ - + Alert - + diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html index 7d58db8..e8ebf7c 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html @@ -1,11 +1,11 @@ - + SwerveDriveTelemetry.TelemetryVerbosity - + @@ -113,18 +113,26 @@ loadScripts(document, 'script');
    Full swerve drive data is sent back in both human and machine readable forms.
    -
    LOW
    +
    INFO
    +
    Medium telemetry data, swerve directory
    +
    +
    LOW
    +
    Low telemetry data, only post the robot position on the field.
    -
    MACHINE
    -
    +
    MACHINE
    +
    Only send the machine readable data related to swerve drive.
    -
    NONE
    -
    +
    NONE
    +
    No telemetry data is sent back.
    +
    POSE
    +
    +
    Info level + field info
    +
    @@ -200,6 +208,20 @@ the order they are declared.
  • +
    +

    INFO

    +
    public static final SwerveDriveTelemetry.TelemetryVerbosity INFO
    +
    Medium telemetry data, swerve directory
    +
    +
    • +
  • +
    +

    POSE

    +
    public static final SwerveDriveTelemetry.TelemetryVerbosity POSE
    +
    Info level + field info
    +
    +
    • +

  • HIGH

    public static final SwerveDriveTelemetry.TelemetryVerbosity HIGH
    diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html index f2fd7ba..d0426af 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html @@ -1,11 +1,11 @@ - + SwerveDriveTelemetry - + diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html index e4777b0..38c9b76 100644 --- a/docs/swervelib/telemetry/package-summary.html +++ b/docs/swervelib/telemetry/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.telemetry - + diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html index a29de93..fd924bf 100644 --- a/docs/swervelib/telemetry/package-tree.html +++ b/docs/swervelib/telemetry/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.telemetry Class Hierarchy - + diff --git a/swervelib/SwerveDriveTest.java b/swervelib/SwerveDriveTest.java index 85d9a45..848852c 100644 --- a/swervelib/SwerveDriveTest.java +++ b/swervelib/SwerveDriveTest.java @@ -360,7 +360,8 @@ public class SwerveDriveTest double velocity = module.getAbsoluteEncoder().getVelocity(); SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Angle Power", power); SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Angle Position", angle); - SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Absolute Encoder Velocity", velocity); + SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Absolute Encoder Velocity", + velocity); log.motor("angle-" + module.configuration.name) .voltage(m_appliedVoltage.mut_replace(power, Volts)) .angularPosition(m_anglePosition.mut_replace(angle, Degrees)) diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java index 756ef79..1e94179 100644 --- a/swervelib/SwerveModule.java +++ b/swervelib/SwerveModule.java @@ -379,8 +379,10 @@ public class SwerveModule if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH) { - SmartDashboard.putNumber("swerve/modules/" + configuration.name + "/Speed Setpoint", desiredState.speedMetersPerSecond); - SmartDashboard.putNumber("swerve/modules/" + configuration.name + "/Angle Setpoint", desiredState.angle.getDegrees()); + SmartDashboard.putNumber("swerve/modules/" + configuration.name + "/Speed Setpoint", + desiredState.speedMetersPerSecond); + SmartDashboard.putNumber("swerve/modules/" + configuration.name + "/Angle Setpoint", + desiredState.angle.getDegrees()); } } diff --git a/swervelib/math/SwerveMath.java b/swervelib/math/SwerveMath.java index a808d7a..eb7de87 100644 --- a/swervelib/math/SwerveMath.java +++ b/swervelib/math/SwerveMath.java @@ -410,4 +410,27 @@ public class SwerveMath moduleState.angle = lastModuleState.angle; } } + + /** + * Cube the {@link Translation2d} magnitude given in Polar coordinates. + * + * @param translation {@link Translation2d} to manipulate. + * @return Cubed magnitude from {@link Translation2d}. + */ + public static Translation2d cubeTranslation(Translation2d translation) + { + return new Translation2d(Math.pow(translation.getNorm(), 3), translation.getAngle()); + } + + /** + * Scale the {@link Translation2d} Polar coordinate magnitude. + * + * @param translation {@link Translation2d} to use. + * @param scalar Multiplier for the Polar coordinate magnitude to use. + * @return {@link Translation2d} scaled by given magnitude scalar. + */ + public static Translation2d scaleTranslation(Translation2d translation, double scalar) + { + return new Translation2d(translation.getNorm() * scalar, translation.getAngle()); + } }